Minimal debug, cleaned up handshake

Author: neocoretechs

src/main/java/org/ros/internal/node/DefaultNode.java

@@ -27,7 +27,7 @@
 import org.ros.internal.node.topic.SubscriberFactory;
 import org.ros.internal.node.topic.TopicDeclaration;
 import org.ros.internal.node.topic.TopicParticipantManager;
-import org.ros.internal.transport.tcp.TcpRosServer;
+
 import org.ros.message.MessageFactory;
 import org.ros.message.Time;
 import org.ros.namespace.GraphName;
@@ -62,7 +62,7 @@
  * 
  */
 public class DefaultNode implements ConnectedNode {
-  private static final boolean DEBUG = true;
+  private static final boolean DEBUG = false;
   private static final Log log = LogFactory.getLog(DefaultNode.class);
   /**
    * The maximum delay before shutdown will begin even if all

src/main/java/org/ros/internal/node/client/ParameterClient.java

@@ -1,19 +1,3 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- * 
- * http://www.apache.org/licenses/LICENSE-2.0
- * 
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
 package org.ros.internal.node.client;
 
 
@@ -24,35 +8,30 @@
 import org.ros.internal.node.response.IntegerResultFactory;
 import org.ros.internal.node.response.ObjectResultFactory;
 import org.ros.internal.node.response.Response;
-import org.ros.internal.node.response.ResultFactory;
-import org.ros.internal.node.response.StringListResultFactory;
+
 import org.ros.internal.node.response.StringResultFactory;
 import org.ros.internal.node.response.VoidResultFactory;
 import org.ros.internal.node.rpc.MasterRpcEndpointImpl;
 import org.ros.internal.node.rpc.ParameterServerRpcEndpoint;
 import org.ros.internal.node.server.NodeIdentifier;
 import org.ros.internal.node.server.ParameterServer;
-import org.ros.internal.transport.tcp.TcpRosServer;
+
 import org.ros.namespace.GraphName;
 
 import java.io.IOException;
-import java.net.InetAddress;
 import java.net.InetSocketAddress;
-import java.net.URI;
 import java.net.UnknownHostException;
-import java.util.ArrayList;
 import java.util.List;
-import java.util.Map;
+
 
 /**
  * Provide access to the RPC API for a ROS {@link ParameterServer}.
+ * The ParameterServer typically starts one port higher than the master.
  * 
- * @author kwc@willowgarage.com (Ken Conley)
- * @author damonkohler@google.com (Damon Kohler)
  * @author jg
  */
 public class ParameterClient extends Client<ParameterServerRpcEndpoint> {
-  private static final boolean DEBUG = true;
+  private static final boolean DEBUG = false;
   private static final Log log = LogFactory.getLog(ParameterClient.class);  
   private final NodeIdentifier nodeIdentifier;
   private final String nodeName;

src/main/java/org/ros/internal/node/client/Registrar.java

@@ -1,19 +1,3 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- * 
- * http://www.apache.org/licenses/LICENSE-2.0
- * 
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
 package org.ros.internal.node.client;
 
 import org.apache.commons.logging.Log;
@@ -34,7 +18,7 @@
 
 import java.net.InetAddress;
 import java.net.InetSocketAddress;
-import java.net.URI;
+
 import java.util.Collection;
 import java.util.List;
 import java.util.concurrent.Callable;
@@ -45,12 +29,11 @@
  * Manages topic, and service registrations of a {@link SlaveServer} with the
  * {@link MasterServer}.
  * 
- * @author kwc@willowgarage.com (Ken Conley)
- * @author damonkohler@google.com (Damon Kohler)
+ * @author jg
  */
 public class Registrar implements TopicParticipantManagerListener, ServiceManagerListener {
 
-  private static final boolean DEBUG = true;
+  private static final boolean DEBUG = false;
   private static final Log log = LogFactory.getLog(Registrar.class);
 
   private static final int SHUTDOWN_TIMEOUT = 5;

src/main/java/org/ros/internal/node/rpc/SlaveRpcEndpointImpl.java

@@ -1,19 +1,3 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- * 
- * http://www.apache.org/licenses/LICENSE-2.0
- * 
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
 package org.ros.internal.node.rpc;
 
 
@@ -35,16 +19,18 @@
 import java.util.Collection;
 import java.util.HashSet;
 import java.util.List;
-import java.util.Map;
+
 import java.util.Set;
-import java.util.Vector;
+
 
 /**
- * @author damonkohler@google.com (Damon Kohler)
+ * Facility for contacting the remote master and issuing commands via the remote invokable methods.
+ * The transport is accomplished via the RemoteRequestinterface implementors.
+ * @author jg
  */
 public class SlaveRpcEndpointImpl implements SlaveRpcEndpoint {
 
-  private static final boolean DEBUG = true;
+  private static final boolean DEBUG = false;
   private static final Log log = LogFactory.getLog(SlaveRpcEndpointImpl.class);
 
   //private final SlaveServer slave;

src/main/java/org/ros/internal/node/server/BaseServer.java

@@ -13,7 +13,7 @@
  *
  */
 public final class BaseServer extends TCPServer {
-	private static boolean DEBUG = true;
+	private static boolean DEBUG = false;
     private static final Log log = LogFactory.getLog(BaseServer.class);
 	public int WORKBOOTPORT = 8090;
 	public InetAddress address = null;

src/main/java/org/ros/internal/node/server/ParameterServer.java

@@ -26,7 +26,7 @@
  * @author Groff
  */
 public class ParameterServer extends RpcServer {
-  private static final boolean DEBUG = true;
+  private static final boolean DEBUG = false;
   private static final Log log = LogFactory.getLog(ParameterServer.class);
 
   private final Map<String, Object> tree;

src/main/java/org/ros/internal/node/server/RpcServer.java

@@ -22,7 +22,7 @@
  */
 public abstract class RpcServer {
 
-  private static final boolean DEBUG = true;
+  private static final boolean DEBUG = false;
   private static final Log log = LogFactory.getLog(RpcServer.class);
 
   private final AdvertiseAddress advertiseAddress;

src/main/java/org/ros/internal/node/server/TCPServer.java

@@ -9,7 +9,7 @@
 * TCPServer is the superclass of all objects using ServerSockets.
 */
 public abstract class TCPServer implements Cloneable, Runnable {
-	private static boolean DEBUG = true;
+	private static boolean DEBUG = false;
 	private static final Log log = LogFactory.getLog(TCPServer.class);
 	ServerSocket server = null;
 	Socket data = null;

src/main/java/org/ros/internal/node/server/TCPWorker.java

@@ -17,7 +17,7 @@
  *
  */
 public class TCPWorker implements Runnable {
-	private static final boolean DEBUG = true;
+	private static final boolean DEBUG = false;
 	private static final Log log = LogFactory.getLog(TCPWorker.class);
 	public boolean shouldRun = true;
 	private Socket dataSocket;

src/main/java/org/ros/internal/node/server/ThreadPoolManager.java

@@ -26,7 +26,7 @@
  *
  */
 public class ThreadPoolManager {
-	private static final boolean DEBUG = true;
+	private static final boolean DEBUG = false;
 	  private static final Log log = LogFactory.getLog(ThreadPoolManager.class);
 	private static String DEFAULT_THREAD_POOL = "RPCSERVER";
 	private int threadNum = 0;